“…There are several categories of hardware architecture for MSR robotic modules, such as lattice architecture (see, e.g., [22,28]), mobile architecture (e.g., [17,27,33]), chain architecture (e.g., [2,29]) and hybrid architecture (e.g., [6,31,35]). For the regular geometric organization, lattice architecture is the most convenient for computer modeling among all those architectures.…”